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Abstract:

Walking auxiliary equipment 10 includes a walking unit 12 and a bogie 14.
The walking unit 12 has a lumber frame 16 put onto the lumber region of a
user, a below-knee frame 34 put onto the leg of a user, an above-knee
frame 26 for coupling the lumber frame 16 to the below-knee frame 34,
through a first joint K1 and a second joint K2, and an assistance force
imparting device 102. The assistance force imparting device 102 includes
a first actuator 104 for generating assistance force to flex the first
joint K1, a second actuator 106 for generating assistance force to flex
the second joint K2, a third actuator 108 for generating assistance force
to extend the second joint K2, and a fourth actuator 110 for generating
assistance force to extend the first joint K1.

Claims:

1. A walking auxiliary equipment that imprints walking patterns to nerve
ganglions of a person with poor mobility, the walking auxiliary equipment
comprising:a walking aid unit that is put onto at least the leg of a
person with poor mobility; andan drive-assistance device, attached to the
walking aid unit and assisting walking movement of the person with poor
mobility.

2. The walking auxiliary equipment of claim 1, wherein the
drive-assistance device is present outside a field of vision of a wearer.

3. The walking auxiliary equipment of claim 1 or claim 2, wherein the
aid-assistance device imparts reaction force to a heel of the person with
poor mobility when a wearer is progressing forward.

4. A walking auxiliary equipment comprising:a trunk section that is put
onto the trunk of a user;a lower leg section that is put onto a lower leg
of a user;a coupling section, supported by the trunk section via a first
joint section corresponding to a hip joint so as to be capable of
swinging in a walking direction and a backwards direction, and supporting
the lower leg section via a second joint section corresponding to a knee
joint so as to be capable of swinging in a walking direction and
backwards direction;a first actuator that generates assistance force to
cause the coupling section to swing towards the walking direction side
about the first joint section;a second actuator that generates assistance
force to cause the lower leg section to swing towards the backwards
direction about the second joint section; anda third actuator that
generates assistance force to cause the lower leg section to swing about
the second joint section towards the walking direction side.

5. The walking auxiliary equipment of claim 4, wherein the third actuator
is provided extending in an up-down direction at the walking direction
side of the lower leg section, an upper end portion of the third actuator
is supported at the coupling section, a lower end portion of the third
actuator is supported at the lower leg section, and the third actuator
generates force in a contracting direction while contracting.

6. The walking auxiliary equipment of claim 5 further comprising a
coupling plate supported at the trunk section so as to be capable of
swinging in the walking direction and the backwards direction, disposed
along the coupling section with the coupling section fixed to an
intermediate portion of the coupling plate, a lower end portion of the
first actuator and an upper end portion of the third actuator supported
at a distal end portion of the coupling plate, and an upper end portion
of the second actuator supported at the proximal end of the coupling
plate.

7. The walking auxiliary equipment of any one of claim 4 to claim 6,
further comprising a fourth actuator that generates assistance force to
cause the coupling section to swing towards the backwards direction about
the first joint section in a state in which the third actuator has
generated assistance force.

8. The walking auxiliary equipment of claim 7, wherein:the first actuator
is provided extending along an up-down direction at the walking direction
side of the coupling section, an upper end portion of the first actuator
is supported at the trunk section, a lower end portion of the first
actuator is supported at the coupling section, and the first actuator
generates force in a contracting direction while contracting; andthe
second actuator and the fourth actuator are provided extending along
up-down directions at the backwards direction side of the coupling
section, upper end portions of the second actuator and the fourth
actuator are supported at the trunk section, lower end portions of the
second actuator and the fourth actuator are supported at the lower leg
section and generate force toward a contracting direction while
contracting.

9. The walking auxiliary equipment of claim 8, wherein the length of
extension and retraction of the second actuator is longer than the length
of extension and retraction of the fourth actuator.

10. The walking auxiliary equipment of any one of claim 7 to claim 9,
wherein the first actuator, the second actuator, the third actuator, and
the fourth actuator are pneumatic actuators generating force in the
contracting direction while contracting due to air being internally
supplied.

11. The walking auxiliary equipment of claim 10, further comprising a
manual switch to manually switch ON and OFF the contracting actuation of
the first actuator, the second actuator, the third actuator, and the
fourth actuator.

12. The walking auxiliary equipment of claim 11, wherein the manual switch
comprises:a first switch that switches ON and OFF contracting actuation
in the first actuator and the second actuator on a first side of the left
or the right, together with contracting actuation in the third actuator
and the fourth actuator on the other side of the left and right; anda
second switch that switches ON and OFF contracting actuation together in
the first actuator and the second actuator on the other side of the left
or the right, together with contracting actuation in the third actuator
and the fourth actuator on the first side.

13. The walking auxiliary equipment of claim 12, wherein the manual switch
comprises a third switch that switches ON and OFF contracting actuation
in the third actuator and the fourth actuator on both the left and right
sides together.

14. The walking auxiliary equipment of claim 10, further comprising a
control unit that repeatedly executes in sequence:a first step of
switching ON the contracting actuation of the first actuator and the
second actuator on a first side of the left or the right and switching
OFF the contracting actuation in the third actuator and the fourth
actuator of the first side, together with switching OFF the contracting
actuation of the first actuator and the second actuator on the other side
of the left or the right and switching ON the contracting actuation in
the third actuator and the fourth actuator of the other side; anda second
step of switching OFF the contracting actuation of the first actuator and
the second actuator on the first side and switching ON the contracting
actuation in the third actuator and the fourth actuator of the first
side, together with switching ON the contracting actuation of the first
actuator and the second actuator on the other side and switching OFF the
contracting actuation in the third actuator and the fourth actuator of
the other side.

[0004]Persons with poor mobility, such as due to cerebral palsy find it
very difficult to maintain a standing posture and acquire a normal gait
pattern in cases of strong spasticity, accompanying involuntary muscle
movements, poor muscle tone and the like. Furthermore, essentially no
movement of the lower limbs can be made when signal transmission to the
lower limb motor nerves is interrupted when there is complete paralysis
of the lower limb function, such as due to spinal cord injury, spina
bifida, or the like, and a wheelchair becomes the means for getting
around. Prolonged wheelchair use causes disuse of the lower limb function
such as muscular atrophy and articular contracture. In addition decreased
functioning of the circulatory system and the digestive system leads to a
decrease in QOL and ADL. Therefore it is important in modern
rehabilitation to perform walking training adopting a standing posture,
while reducing the burden on a person with poor mobility.

[0005]The following is an example thereof (see, for example, "The David
Hart Clinic" catalogue, published January 2004).

[0006]There are devices (see FIG. 21) that apply walking assistance force
by fixing one end of a piece of elastic to the frame of a bogie, and
fixing the other end in the vicinity of the ankle of a user, there are
long leg braces (see FIG. 22), there are suspension invalidity aids (see
FIG. 23), and the like.

[0007]When the four limbs cannot be moved due to nervous or cerebral
failure, joints become contracted and the range of motion becomes narrow,
eventually leading to loss of movement. Therefore, it is necessary to
adopt a standing posture and activate the actions of the circulatory
system and the digestive system. As such training devices there are
passive exercise training devices, such as electrical slanting tables
(see FIG. 24), passive exercise training devices for the lower limb (see
FIG. 25), and the like.

[0009]For juveniles with poor mobility, such as due to cerebral palsy or
the like, in order to acquire walking there is walking training nursing
that employs walking training equipment, in which the trunk is supported
by a guardian or trainer from behind. However, sufficient effect is not
obtained for persons with impeded continuity of step due to femoral
region in-swing, or the like, such as scissor leg sufferers and the like.
This point is similar to walking training for patients with cerebral
infarction and the like. Although, particularly in the case of adults,
there is advocacy in the field of rehabilitation medicine for the
necessity for walking training from the acute stage, in many cases it is
difficult to take up a standing posture prior to walking training, and
there is strong demand for development of a walker that can reliably
prevent tipping over.

[0010]After birth, humans become capable of standing on two feet and
walking by controlling muscles in the four limbs with instructions from
the brain, and repeated training of walking movements.

[0011]Once bipedal walking has been attained, then when walking is
commenced, even if signals of nerves relating to walking do not reach the
brain, walking movement is automatically corrected, with a walking speed
instruction output for each step at a time, by what is generally referred
to as reflexes, and walking can be made without burden on the brain.

[0012]In the case of juveniles with poor mobility, such as due to cerebral
palsy or the like, since control of muscle movement is not performed by
motor nerves in a similar manner to healthy juveniles, often involuntary
tone occurs with strong local muscle activity induced. Consequently, it
is extremely difficult to achieve a correct standing posture and execute
correct walking movement, even when wearing conventional walking
auxiliary equipment and training devices. In addition, walking has been
considered impossible when nerve transmission to the lower limbs is
completely severed after birth due to spinal cord injury and cervical
spine injury.

SUMMARY OF THE INVENTION

[0013]The present invention is made in consideration of the above
circumstances and an object thereof is to provide a walking auxiliary
equipment that can solve the above issues.

[0014]A walking auxiliary equipment of a first aspect of the present
invention imprints walking patterns to nerve ganglions of a person with
poor mobility, the walking auxiliary equipment including: a walking aid
unit that is put onto at least the leg of a person with poor mobility;
and a drive-assistance device, attached to the walking aid unit and
assisting walking movement of a person with poor mobility.

[0015]According to the first aspect, walking of a person with poor
mobility becomes executable by reflex in a similar manner to walking of a
healthy person.

[0016]The walking auxiliary equipment of the first aspect may have the
drive-assistance device present outside a field of vision of a wearer.

[0017]According to the walking auxiliary equipment of the above described
configuration, the person with poor mobility caused to sense movements as
being of their own volition, and not those assisted by another person.

[0018]In the first aspect of the present invention, the aid-assistance
device may impart reaction force to a heel of a person with poor mobility
when a wearer is progressing forward.

[0019]According to the walking auxiliary equipment of the above described
configuration, a person with poor mobility can be made to reliably kick
the ground surface with the sole of their feet, thereby generating lots
of myoelectric signals, and feeding back to the nerve bundles.

[0020]A walking auxiliary equipment of a second aspect of the present
invention, includes: a trunk section that is put onto the trunk of a
user; a lower leg section that is put onto a lower leg of a user; a
coupling section, supported by the trunk section via a first joint
section corresponding to a hip joint so as to be capable of swinging in a
walking direction and a backwards direction, and supporting the lower leg
section via a second joint section corresponding to a knee joint so as to
be capable of swinging in a walking direction and backwards direction; a
first actuator that generates assistance force to cause the coupling
section to swing towards the walking direction side about the first joint
section; a second actuator that generates assistance force to cause the
lower leg section to swing towards the backwards direction about the
second joint section; and a third actuator that generates assistance
force to cause the lower leg section to swing about the second joint
section towards the walking direction side.

[0021]In the walking auxiliary equipment of the second aspect, the action
to raise the thigh region of a user (thigh raising) is assisted by the
coupling section swinging toward the walking direction side due to
assistance force generated by the first actuator. The action to flex the
knee of a user is also assisted by the lower leg section swinging towards
backwards direction due to assistance force generated by the second
actuator. Hence, walking movement, of thigh raising while the knee of a
user is flexed, is assisted by first actuator and the second actuator
generating assistance force.

[0022]Furthermore, the action to extend the knee of a user is assisted by
the lower leg section swinging towards the walking direction due to the
assistance force generated by the third actuator. As a result, after
thigh raising with a flexed knee of a user, the walking movement is
assisted to make ground contact from the heel with the knee extended.

[0023]Thereby, the weight of a user is supported by the leg in a flat-foot
ground contact state, enabling the walking stability of a user to be
increased.

[0024]The walking auxiliary equipment of the second aspect of the present
invention can be configured with the third actuator provided extending in
an up-down direction at the walking direction side of the lower leg
section, an upper end portion of the third actuator supported at the
coupling section, a lower end portion of the third actuator supported at
the lower leg section, and the third actuator generating force in a
contracting direction while contracting.

[0025]In the walking auxiliary equipment configured as described above,
the third actuator is provided extending in an up-down direction at the
walking direction side of the lower leg section, an upper end portion is
supported at the coupling section, a lower end portion is supported at
the lower leg section, and the third actuator generates force in a
contracting direction while contracting. Due thereto, the lower leg
section swings towards the walking direction about the second joint
section, and action to extend the knee of a user is assisted.

[0026]In the walking auxiliary equipment of the second aspect of the
present invention, a coupling plate can be provided, supported at the
trunk section so as to be capable of swinging in the walking direction
and the backwards direction, disposed along the coupling section with the
coupling section fixed to an intermediate portion of the coupling plate,
a lower end portion of the first actuator and an upper end portion of the
third actuator supported at a distal end portion of the coupling plate,
and an upper end portion of the second actuator supported at the proximal
end of the coupling plate.

[0027]According to the walking auxiliary equipment of the above described
configuration, plural components can be fixed to or supported at a single
coupling plate, and the number of components can be reduced to give a
simple structure.

[0028]The walking auxiliary equipment of the second aspect of the present
invention can be provided with a fourth actuator that generates
assistance force to cause the coupling section to swing towards the
backwards direction about the first joint section in a state in which the
third actuator has generated assistance force.

[0029]In the walking auxiliary equipment of the above described
configuration, when in a state in which the third actuator has generated
assistance force, the fourth actuator generates assistance force and
action to pull the thigh towards the backwards direction without flexing
the knee of a user, namely operation to kick the ground with an upright
leg, is assisted by this assistance force swinging the coupling section
towards the backwards direction about the first joint section.

[0030]Consequently, walking stability of a user can be raised even more.

[0031]A walking auxiliary equipment of a third aspect of the present
invention further has: the first actuator provided extending along an
up-down direction at the walking direction side of the coupling section,
an upper end portion of the first actuator supported at the trunk
section, a lower end portion of the first actuator is supported at the
coupling section, and the first actuator generating force in a
contracting direction while contracting; and the second actuator and the
fourth actuator provided extending along up-down directions at the
backwards direction side of the coupling section, upper end portions of
the second actuator and the fourth actuator supported at the trunk
section, lower end portions of the second actuator and the fourth
actuator supported at the lower leg section and generating force toward a
contracting direction while contracting.

[0032]In the walking auxiliary equipment of the third aspect, the first
actuator is provided extending along an up-down direction at the walking
direction side of the coupling section, an upper end portion of the first
actuator supported at the trunk section, a lower end portion of the first
actuator is supported at the coupling section, and the first actuator
generates force in a contracting direction while contracting. Thereby,
the coupling section rotates in the walking direction about the first
joint section, and leg raising action of a user is assisted.

[0033]The second actuator is provided extending along an up-down direction
at the backwards direction side of the coupling section, an upper end
portion thereof is supported at the trunk section, and a lower end
portion is supported at the lower leg section, and this fourth actuator
generates force toward a contracting direction while contracting. The
lower leg section thereby swings towards the backwards direction about
the second joint section, and action to flex the knee of a user is
assisted.

[0034]However, the fourth actuator is provided extending along an up-down
direction at the backwards direction side of the coupling section, an
upper end portion thereof is supported at the trunk section, and a lower
end portion is supported at the lower leg section, and this fourth
actuator generates force toward a contracting direction while contracting
with the third actuator in an assistance force generated state. The
coupling section thereby swings towards the backwards direction about the
first joint section, and action to kick the ground with an upright leg of
a user is assisted.

[0035]In the walking auxiliary equipment of the third aspect of the
present invention, the length of extension and retraction of the second
actuator can be longer than the length of extension and retraction of the
fourth actuator.

[0036]In the walking auxiliary equipment of the above described walking
auxiliary equipment, the range of movement of action to flex the knee of
a user can be extended by making the length of extension and retraction
of the second actuator longer than the length of extension and retraction
of the fourth actuator.

[0037]In the walking auxiliary equipment of the third exemplary embodiment
of the present invention, the first actuator, the second actuator, the
third actuator, and the fourth actuator can be pneumatic actuators
generating force in the contracting direction while contracting due to
air being internally supplied.

[0038]In the walking auxiliary equipment of the above described
configuration, functionality to generate assistance force can be obtained
with a simple structure by the first actuator, the second actuator, the
third actuator, and the fourth actuator being pneumatic actuators
generating force in the contracting direction while contracting due to
air being internally supplied.

[0039]The walking auxiliary equipment of the third aspect of the present
invention can have a manual switch to manually switch ON and OFF the
contracting actuation of the first actuator, the second actuator, the
third actuator, and the fourth actuator.

[0040]In the walking auxiliary equipment of the above described
configuration, the contracting actuation of the first actuator, the
second actuator, the third actuator, and the fourth actuator is manually
switched ON and OFF by the manual switch. Consequently, generation of
assistance force to match the state of a user is enabled.

[0041]In the walking auxiliary equipment of the third aspect of the
present invention, the manual switch can include: a first switch that
switches ON and OFF contracting actuation in the first actuator and the
second actuator on a first side of the left or the right, together with
contracting actuation in the third actuator and the fourth actuator on
the other side of the left and right; and a second switch that switches
ON and OFF contracting actuation together in the first actuator and the
second actuator on the other side of the left or the right, together with
contracting actuation in the third actuator and the fourth actuator on
the first side.

[0042]In the walking auxiliary equipment of the above described
configuration, assistance can be made to the action to kick the ground
with the leg on the other side with the knee in an extended state, while
flexing the knee of the leg on the first side, by the first switch that
switches ON and OFF contracting actuation in the first actuator and the
second actuator on a first side of the left or the right, together with
contracting actuation in the third actuator and the fourth actuator on
the other side of the left and right. Furthermore, the raised leg on the
first side can be made to have heel contact with the ground by switching
on the contracting actuation of the third actuator on the first side by
switching OFF the first switch and switching ON the second switch.

[0043]This enables action to stride out forward with the leg of a user on
the first side to be made appropriate to the condition of a user.

[0044]However, by using the second switch to switch ON contracting
actuation together in the first actuator and the second actuator on the
other side, together with contracting actuation in the third actuator and
the fourth actuator on the first side, action to raise the leg on the
other side of a user while the knee is flexed, and action to kick the
ground with the leg on the first side in a knee extended state, is
assisted. Furthermore, the contracting actuation of the third actuator on
the other side is switched ON by switching the second switch OFF while
also switching the first switch ON, and the leg on the other side can be
lowered such that heel contact is made.

[0045]This enables action to stride out forward with the leg of a user on
the other side to be made appropriate to the condition of a user.

[0046]The walking auxiliary equipment of the third aspect of the present
invention can have a third switch that switches ON and OFF contracting
actuation in the third actuator and the fourth actuator on both the left
and right sides together.

[0047]In the walking auxiliary equipment of the above described
configuration, by switching ON the contracting actuation of the third
actuators and the fourth actuators on both the left and right sides using
the third switch, assistance force extending the first joint section and
the second joint section can be generated, thereby assisting the standing
action of a user.

[0048]In the walking auxiliary equipment of the third aspect of the
present invention, a control unit may be included that repeatedly
executes in sequence: a first step of switching ON the contracting
actuation of the first actuator and the second actuator on a first side
of the left or the right and switching OFF the contracting actuation in
the third actuator and the fourth actuator of the first side, together
with switching OFF the contracting actuation of the first actuator and
the second actuator on the other side of the left or the right and
switching ON the contracting actuation in the third actuator and the
fourth actuator of the other side; and a second step of switching OFF the
contracting actuation of the first actuator and the second actuator on
the first side and switching ON the contracting actuation in the third
actuator and the fourth actuator of the first side, together with
switching ON the contracting actuation of the first actuator and the
second actuator on the other side and switching OFF the contracting
actuation in the third actuator and the fourth actuator of the other
side.

[0049]In the walking auxiliary equipment of the above described
configuration, the control unit repeatedly executes the first step and
the second step in sequence. First, in the first step, contracting
actuation of the first actuator and the second actuator in the first side
of either the left or the right side is switched ON together with the
contracting actuation of the third actuator and the fourth actuator in
the other side, and the other actuators are switched OFF.

[0050]Next, at the second step, contracting actuation of the first
actuator and the second actuator in the other side of either the left or
the right side is switched ON together with the contracting actuation of
the third actuator and the fourth actuator in the first side, and the
other actuators are switched OFF.

[0051]By executing the above first step and second step in sequence, the
leg on the left or the right side of a user is raised with the knee
flexed, and the leg on the opposite side kicks the ground surface in a
knee extended state, and furthermore operation can be performed such that
then the raised leg is lowered while extending the knee so as to make
heel contact.

[0052]As explained above, the present invention can provide a walking
auxiliary equipment that can solve the existing problems.

BRIEF DESCRIPTION OF THE DRAWINGS

[0053]FIG. 1A is a figure showing a walking auxiliary equipment according
to an exemplary embodiment of the present invention in a state of use.

[0054]FIG. 1B is a figure showing a walking auxiliary equipment according
to an exemplary embodiment of the present invention in a state of use.

[0055]FIG. 2A is a figure showing a walking auxiliary equipment according
to an exemplary embodiment of the present invention in a state of use.

[0056]FIG. 2B is a figure showing a walking auxiliary equipment according
to an exemplary embodiment of the present invention in a state of use.

[0057]FIG. 3 is block diagram showing a schematic configuration of a
walking auxiliary equipment according to an exemplary embodiment of the
present invention.

[0058]FIG. 4 is a perspective view showing a walking auxiliary equipment
according to a first exemplary embodiment in a state of use;

[0059]FIG. 5 is a perspective view showing a walking auxiliary equipment
according to a first exemplary embodiment in a state of preparation
before putting on;

[0060]FIG. 6 is a schematic diagram showing relevant parts of an automatic
lift device provided to a walking auxiliary equipment according to the
first exemplary embodiment of the present invention.

[0061]FIG. 7A is a perspective view showing a walking unit for provision
to the first exemplary embodiment of the present invention.

[0062]FIG. 7B is a perspective view showing an exemplary modification of a
walking unit for provision to the first exemplary embodiment of the
present invention.

[0063]FIG. 8A is diagram showing the outline of an actuator for provision
to a walking auxiliary equipment according to the first exemplary
embodiment of the present invention.

[0064]FIG. 8B is diagram showing the outline of an actuator for provision
to a walking auxiliary equipment according to the first exemplary
embodiment of the present invention.

[0065]FIG. 9 is a diagram showing the outline of air supply and venting of
an actuator for provision to a walking auxiliary equipment according to
the first exemplary embodiment.

[0066]FIG. 10A is a lateral view showing a walking unit for provision to a
walking auxiliary equipment according to the first exemplary embodiment
of the present invention.

[0067]FIG. 10B is a schematic diagram schematically showing movement in
the front-rear direction of a walking unit for provision to a walking
auxiliary equipment according to the first exemplary embodiment of the
present invention.

[0068]FIG. 11A is an explanatory diagram showing the muscles of a human
body corresponding to the first and the second actuators.

[0069]FIG. 11B is an explanatory diagram showing the muscles of a human
body corresponding to the third and the fourth actuators.

[0070]FIG. 12 is a rear view showing a walking unit for provision to a
walking auxiliary equipment of the first exemplary embodiment of the
present invention.

[0071]FIG. 13 is a timing chart for explaining actuation of a assistance
force imparting device configuring a walking auxiliary equipment
according to the first exemplary embodiment of the present invention.

[0072]FIG. 14 is a lateral view showing walking movement of a user of a
walking auxiliary equipment according to a first exemplary embodiment of
the present invention.

[0073]FIG. 15 is a lateral view showing a state of use of a walking
auxiliary equipment according to the first exemplary embodiment of the
present invention.

[0074]FIG. 16 is a lateral view showing a state of use of the walking
auxiliary equipment according to the first exemplary embodiment of the
present invention.

[0076]FIG. 18 is a diagram showing a manual switch for provision to a
walking auxiliary equipment according to a second exemplary embodiment of
the present invention.

[0077]FIG. 19 is a diagram showing a manual switch for provision to a
walking auxiliary equipment according to the second exemplary embodiment
of the present invention;

[0078]FIG. 20 is a diagram showing a manual switch for provision to a
walking auxiliary equipment according to the second exemplary embodiment
of the present invention;

[0079]FIG. 21 is a diagram of a conventional walking auxiliary equipment;

[0080]FIG. 22 is a diagram of a conventional walking auxiliary equipment;

[0081]FIG. 23 is a diagram of a conventional walking auxiliary equipment;

[0082]FIG. 24 is a diagram of a conventional walking auxiliary equipment;
and

[0083]FIG. 25 is a diagram of a conventional walking auxiliary equipment.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0084]Explanation follows regarding walking auxiliary equipment 10
according to an exemplary embodiment of the present invention, based on
FIG. 1 to FIG. 18.

[0085]As shown in FIG. 1 to FIG. 3, the walking auxiliary equipment 10 has
a walking unit (walking aid unit) 12 to which an drive-assistance device
102 is attached (see also FIG. 4), and control thereof is performed by a
remote controller (manual switch, described below) 120.

[0086]The walking auxiliary equipment 10 according to the present
exemplary embodiment has the drive-assistance device 102 attached to the
walking unit 12 such that a user (wearer) is not conscious thereof (out
of the field of vision), such that walking training is performed although
a user has a sensation of wearing the walking unit 12.

[0087]In this training, order to give as much freedom as possible to a
user, a forward driving force needs to be imparted when a user wants to
go forward. This is important in order to make a connection between the
intention of a user to walk, and the nerves that actually perform
walking. The present equipment can impart to muscles the movement of each
step at a time, and the electrical signal generated from the muscle
originates in peripheral nerves and passes through a number of nerve
pairs (bundle), and is finally transmitted to the larger nerves of the
spine. By repeating this training, rudimentary walking patterns
transmitted with reflexes of the nerve pairs are imprinted.

[0088]In cases of pamplegia and cases of hypoparalysis, by such iterative
training with correct walking exercise, gradually abnormal muscle tone
and involuntary movements can be alleviated, and it has already been
confirmed that as a result autonomous walking movement can become
attainable. If such a state is arrived at, then similar walking movement
to that of a health person becomes executable by reflex, and the need to
think in order to execute walking movement becomes unnecessary.

[0089]Explanation follows regarding the walking auxiliary equipment 10
according to a first exemplary embodiment of the present invention. Note
that for ease of explanation, the walking direction of a person
undergoing walking training shown by the arrow A is defined as the front
side, the backwards direction of a person undergoing walking training
shown by arrow B is defined as the rear side, and up, down, left and
right directions are based on the directions as viewed when facing in the
walking direction.

[0090]FIG. 4 is a perspective view of the walking auxiliary equipment 10
in a state of being put onto a person undergoing walking training, FIG. 5
is a perspective view of the walking auxiliary equipment 10 in a state
before putting on. As shown in these figures, the walking auxiliary
equipment 10 is configured with the walking unit 12 that is put onto a
human body supported by a bogie 14.

[0091]The walking unit 12 is equipped with a lumber frame 16, formed as a
trunk (lumber region) portion in substantially a semi-circular shape
(U-shape) in plan view, opening to the front. The lumber frame 16 is
attached to the bogie 14 via an automatic lifting device 64, described
below. A lumber contact plate 16A is attached to the front face of a
left-right direction central portion of the lumber frame 16, with the
lumber contact plate 16A making contact with the lumber region on the
trunk of a human body positioned inside the lumber frame 16. A bracket 17
is fixed to each of both the left and right ends of the lumber contact
plate 16A.

[0092]As shown in FIG. 4, the lumber frame 16 is put onto the lumber
region of the trunk of a human body by means of a waist belt 18 connected
to the respective ends of both the left and right ends of the lumber
frame 16, with the rear portion of the waist belt 18 wrapped around so as
to support the buttocks of a human body from below. The lumber frame 16
is thereby configured to transmit (support) the weight of a wearer to
(on) the bogie 14. Note that illustration of the waist belt 18 is omitted
from drawings except for FIG. 4.

[0093]Furthermore, as shown in FIG. 5, the bottom ends of a left-right
pair of upright frames 20 are fixed to both the left and right ends of
the lumber frame 16, the upright frames 20 each having a length
substantially in an up-down direction. The left-right upright frames 20
each have a top end of a length sufficient to reach up to the chest
region of a wearer. Brackets 22 are fixed to the bottom end side of each
of the upright frames 20 (above the lumber frame 16). As shown in FIG. 4,
each top end of the left-right upright frames 20 can be put onto the
chest region of a human body via a common chest belt 23. Note that
illustration of the chest belt 23 is omitted from drawings except for
FIG. 4.

[0094]Furthermore, the top ends of above-knee frames 26 with length
directions substantially along an up-down direction, serving as coupling
portions, are coupled to the lumber frame 16 in the vicinity of the
opening ends of the lumber frame 16, further forward than the joint
portion to the upright frames 20. Connection is made via hinge shafts 24,
each having an axial line that runs substantially along the left-right
direction, such that the above-knee frames 26 are capable of swinging
about the hinge shafts 24. Intermediate portions of the above-knee frames
26 are fixed to brackets 25. The brackets 25 are of substantially
L-shape, with one end side of each of the brackets 25 attached to the
lumber frame 16 so as to be capable of swinging, and the other end side
fixed to the intermediate portion of the above-knee frame 26. A first
joint K1, corresponding to the hip joint, is configured by the lumber
frame 16, the hinge shaft 24, and the above-knee frame 26. The rear end
of a bracket 30 is fixed to a lower portion of each of the above-knee
frames 26, with the brackets 30 each having a length that is
substantially along the front-rear direction.

[0095]Still further, the top end of a below-knee frame 34, serving as a
leg portion, is coupled to the bottom end of each of the above-knee
frames 26 via a hinge shaft 32 having an axial line running substantially
along the left-right direction. The below-knee frames 34 have a length
direction that is substantially along an up-down direction, and are
coupled to the hinge shafts 32 so as to be capable of swinging. A second
joint K2, corresponding to the knee joint, is configured by the
above-knee frame 26, the hinge shaft 32, and the below-knee frame 34. An
upper and lower pair of brackets 36, 37 is fixed to each upper portion of
the below-knee frames 34, and the rear end of a bracket 35, having a
length direction that runs substantially along the front-rear direction,
is fixed to each lower portion of the below-knee frames 34.

[0096]A below-knee bearing 38 is attached to each of the below-knee frames
34, directly below the second joint K2. The below-knee bearings 38 are
each formed with a semi-circular shape in plan view, with an opening that
faces towards the front, and receive the rear side of a portion below the
knee of a human body. As shown in FIG. 4, each of the below-knee bearings
38 can independently be put onto each of the below-knee portions of the
different respective left and right legs, by means of leg belts 40, each
having an intermediate portion that is fixed to the rear side of the
below-knee bearing 38. Note that illustration of the leg belts 40 is
omitted from drawings except for FIG. 4.

[0097]An ankle bearing 39 is attached to the bottom end of each of the
below-knee frames 34. The ankle bearings 39 are each formed in a
semi-circular shape in plan view, open towards the front, and receive the
rear side of the ankle of a human body. As shown in FIG. 4, each of the
ankle bearings 39 can independently be put onto the ankle portions on the
different left and right legs with a leg belt 40 having an intermediate
portion that is fixed to the rear side of the ankle bearing 39. Note that
illustration of the leg belts 40 is omitted from drawings except for FIG.
4.

[0098]The walking unit 12 as explained above is configured to be put onto
a human body, with the lumber frame 16 put onto the lumber portion of the
lower trunk by the waist belt 18, the top end of each of the upright
frames 20 put onto the chest portion of the upper trunk by the chest belt
23, and the below-knee bearings 38 put onto below-knee portions of the
leg, and the ankle bearings 39 put onto the ankles, by means of the
respective leg belts 40, such that exercise direction of the lower leg is
mainly restricted to swing directions about each of the joints K1, K2.

[0099]The bogie 14 is equipped with a center frame 48 having a length
direction that runs along the front-rear direction. A central portion of
a front wheel frame 50, having a length that runs along the left-right
direction, is coupled in a fixed manner to the front end of the center
frame 48, and support shafts 52, aligned along the up-down direction, are
connected to the both the left and right ends of the front wheel frame
50, respectively. Arms 54 are supported by each of the support shafts 52,
respectively, so as to be capable of swinging about the support shafts
52, and the axial center of respective wheels 56 is rotatably supported
at the bottom end of each of the arms 54.

[0100]An up-down direction intermediate portion of an upright pipe 58,
having a length that runs along the up-down direction, is coupled in a
fixed manner to the rear end of the center frame 48. A rear wheel frame
62, having a length direction that runs along the left-right direction,
is coupled to the rear of the upright pipe 58 via a rear frame 60. The
axial centers of wheels 56 are rotatably supported at the two length
direction ends of the rear wheel frame 62. The bogie 14, and therefore
the walking auxiliary equipment 10, is thereby such that contact is only
made with the walking surface to be used at the front and rear, total
four, wheels 56. Note that a suspension structure is employed in the rear
frame 60 in order to absorb displacement in the up-down direction.
Furthermore, in place of a configuration having four wheels 56, the bogie
14 can be configured equipped with two, three, five or more wheels 56.

[0101]The automatic lifting device 64 is provided to the bogie 14. The
automatic lifting device 64 is provided with an upper block 66 that is
fixed to the top end portion of the upright pipe 58, and with a lower
block 68 that is fixed in the vicinity of the lower end of the upright
pipe 58. The upper block 66 and the lower block 68 are fixed to the
upright pipe 58, and therefore to the bogie 14, by main bodies 66A, 68A
and gripping portions 66B, 68B, each with concave portions, that are
fastened together, with the upright pipe 58 inserted into the concave
portions in a gripped state. A left-right pair of connection plates 70,
having length directions that run along the up-down direction, is
connected to the main bodies 66A, 68A of the upper and lower blocks 68.

[0102]The automatic lifting device 64 is equipped with an air cylinder 72.
The air cylinder 72 is configured with a piston 72B provided inside a
cylinder 72A (see FIG. 6), with one end of an extension and retraction
rod 72C positioned outside the cylinder 72A and the other end of the
extension and retraction rod 72C fixed to the piston 72B. A structure is
thereby achieved in which the extension and retraction rod 72C extends
and retracts with respect to the cylinder 72A by the piston 72B sliding
inside the cylinder 72A.

[0103]The air cylinder 72 has the bottom end portion of the cylinder 72A
fixed to the upper block 66, with the extension and retraction rod 72C
(the top end thereof) protruding out from the top end of the cylinder 72A
so as to move up and down. A lifter 74 is fixed to the top end of the
extension and retraction rod 72C. The lifter 74 has a main body 74A
disposed in front of, and parallel to, the air cylinder 72, a top flange
74B, fixed to the top end of the extension and retraction rod 72C and
extending rearward from the top end of the main body 74A, and a bottom
flange 74C extending out forward from the bottom end of the main body
74A.

[0104]The top end of a guide rod 76 is fixed to the lifter 74 at the
bottom flange 74C. The guide rod 76 is inserted into the upright pipe 58
of the bogie 14 and is supported such that only movement in the up-down
direction is permitted. Due thereto, in the automatic lifting device 64,
when the extension and retraction rod 72C of the air cylinder 72 extends
with respect to the cylinder 72A, the lifter 74 is raised from its
initial position, while the guide rod 76 is being guided by the upright
pipe 58 (by a linear guide disposed therein). In the initial position
state of the lifter 74, when the air cylinder 72 is positioned with the
shortest retraction, the bottom flange 74C is positioned at a position
above, and in the vicinity of, the upper block 66. The maximum stroke of
the air cylinder 72 is about 300 mm.

[0105]As shown in FIG. 6, the automatic lifting device 64 is equipped with
an air canister 78. The air canister 78 is in communication, via an
electropneumatic regulator 80, with an air inlet-outlet aperture 72D
disposed in the vicinity of the bottom end of the cylinder 72A. The
electropneumatic regulator 80 is configured with a port that communicates
the air inlet-outlet aperture 72D with the air canister 78, and with a
port that communicates the air inlet-outlet aperture and the outside
(with the atmosphere). Each of these ports is capable of being
independently opened and closed, with each of the ports controlled by a
control device 82, and opened or closed such that the internal pressure
within the cylinder 72A, at the air inlet-outlet aperture 72D side of the
piston 72B, is a set pressure.

[0106]The control device 82 is electrically connected to a raising and
lowering switch 84. By operating the raising and lowering switch 84 to
the raising side, the electropneumatic regulator 80 controls such that
the air pressure of the cylinder 72A becomes a specific pressure, lifting
the lifter 74 from the initial position by a specific amount. By
operating the raising and lowering switch 84 to the lowering side, the
electropneumatic regulator 80 controls such that the air pressure in the
cylinder 72A is lowered to atmospheric pressure. Note that the control
device 82 may be configured such that the set pressure is appropriately
changed, for example if the walking auxiliary equipment 10 is jointly
used by plural people or the like, in order to change the raising amount
of the lifter 74 according to the body frame (height and weight) of the
user.

[0107]The air canister 78, the electropneumatic regulator 80 and the
control device 82 are installed at appropriate positions on the bogie 14.
The air canister 78, the electropneumatic regulator 80 and the control
device 82 configure a drive device in the present invention. Note that a
compressor, an air pump, or the like may be provided in place of an air
canister.

[0108]The automatic lifting device 64 supports the above described walking
unit 12 with respect to the bogie 14. Specifically, a left-right central
portion (rear end portion) of the lumber frame 16, configuring the
walking unit 12, is fixed to the bottom flange 74C of the lifter 74,
configuring the automatic lifting device 64, by means of fasteners (not
shown in the figures).

[0109]Thereby, the walking auxiliary equipment 10 is of a configuration in
which upward movement of the lumber frame 16 of the walking unit 12 as
shown in FIG. 4, and therefore upward movement of the lumber portion of a
user, is obtained by raising the lifter 74 from the initial position. The
initial position of the lifter 74 corresponds to the lumber portion of a
user seated on a chair (not shown in the figures), and the raised
position of the lifter 74 corresponds to the lumber portion of the user
when standing.

[0110]Furthermore, as shown in FIG. 7A, the walking auxiliary equipment 10
is equipped with a drive-assistance device 102 for imparting walking
assistance force to a user.

[0111]The drive-assistance device 102 is equipped with: a first actuator
104 that assists flexion of the hip joint; a second actuator 106 that
assists flexion of the knee joint; a third actuator 108 that assists
extension of the knee joint; and a fourth actuator 110 that assists
extension of the hip joint. As shown in FIG. 7A, a left-right pair are
provided for each of the first to the fourth actuators 104, 106, 108,
110, corresponding to the left and right legs of a user, respectively. In
the following explanation, when discrimination is made between the left
and the right actuators, actuators on the right side will be appended
with the suffix "A" and actuators on the left side will be appended with
the suffix "B".

[0112]In the present exemplary embodiment, the first to the fourth
actuators 104, 106, 108, 110 are so-called Mc Kibben artificial muscles,
pneumatic actuators that contract when supplied with compressed air,
generating force in the contracting direction. As shown in FIG. 8A and
FIG. 8B, a pneumatic actuator AC is equipped with an inner tube IC that
is a swelling and contracting body, and a mesh sleeve MS that is a
covering body of a mesh shape that covers the inner tube IC. The mesh
sleeve MS is, for example, configured from a fibrous material, such as,
for example, a high strength non-elastic fiber or the like. The two end
portion of the mesh sleeve MS in the length (axial) direction are
connected to respective length direction end portions of the inner tube
IC.

[0113]As shown in FIG. 8B, the inner tube IC swells by supplying air
therein. Swelling of the inner tube IC is converted by the mesh sleeve MS
into shrinkage in the overall length of the pneumatic actuator AC.
Namely, when air is supplied into the pneumatic actuator AC, the length
thereof shrinks as the diameter thereof expands. Force F is generated in
the contracting direction of the pneumatic actuator AC due to this
shrinkage in length.

[0114]As shown in FIG. 9, the first to the fourth actuators 104, 106, 108,
110 are connected, via switches SW, to a compressor CP. The switches SW
are provided with an air supply switch (not shown in the figures) and an
air vent switch (not shown in the figures). When the air supply switch is
ON and the air vent switch is OFF, compressed air is supplied from the
compressor CP to the first to the fourth actuators 104, 106, 108, 110.
When the air vent switch is ON and the air supply switch is OFF, air in
the first to the fourth actuators 104, 106, 108, 110 is vented. Switches
SW are controlled by a control device 112 so as to match the walking
movement of a person undergoing walking training. The control method
thereof is described below.

[0115]As shown in FIG. 7A and FIG. 10A, the left and right first actuators
104 are provided extending in an up-down direction at the front side of
the above-knee frames 26, with one end attached to the front end of the
bracket 22, and the other end attached to the front end of the bracket
30. Contracting the first actuator 104 generates force that swings the
above-knee frame 26 forwards about the first joint K1, namely generates
force that flexes the first joint K1. As shown in FIG. 11A, the first
actuators 104 are configured to generate force equivalent to the
quadriceps muscle A of a human body. Note that, as shown in FIG. 7A,
there are two each of the first actuators 104 provided on each of the
left and right sides, since flexion of the first joint K1 requires a
relatively high force.

[0116]Furthermore, as shown in FIG. 7A and FIG. 10A, the left and right
second actuators 106 are provided extending in an up-down direction at
the rear side of the above-knee frame 26, with one end attached to the
rear end of the bracket 22, and the other end attached to the bracket 37.
By contracting, the second actuators 106 generate force that swings the
below-knee frame 34 rearward about the second joint K2, namely generate
force that flexes the second joint K2. As shown in FIG. 11B, the second
actuator 106 is configured to generate force equivalent to that of the
triceps surae muscle B in the human body.

[0117]As shown in FIG. 7A and FIG. 10A, the left and right third actuators
108 are provided extending up and down at the front side of the
below-knee frames 34, with one end of each attached to the front end of
the bracket 30, and the other end attached to the front end of the
bracket 35. By contracting, the third actuators 108 generate force to
swing the below-knee frame 34 forward about the second joint K2, namely
generate force extending the second joint K2 (see FIG. 10B). As shown in
FIG. 11A, the third actuators 108 are configured to generate force
equivalent to the vastus muscles C in the human body.

[0118]Furthermore, as shown in FIG. 7A and FIG. 10A, the left and right
fourth actuators 110 are provided extending in the up-down direction at
the rear side of the above-knee frames 26, with one end attached to the
bracket 17, and the other end attached to the bracket 36. By contracting
in unison with the third actuators 108, the first actuators 104 generate
force to swing the above-knee frame 26 rearward about the first joint K1,
namely generate force to extend the first joint K1. As shown in FIG. 11B,
the fourth actuator 110 is configured to generate force equivalent to
that of the gluteus maximus D in the human body.

[0119]Note that the configuration shown in FIG. 7B can also be employed as
a configuration to attach the drive-assistance device 102 to the walking
unit 12. The attachment configuration shown in FIG. 7B is equipped with a
bracket 140 in place of the bracket 22, and with a plate 150 in place of
the bracket 25 and the bracket 30. Furthermore, attachment to each of the
first actuator 104, the second actuator 106, the third actuator 108 and
the fourth actuator 110 is attachment via a ring R. Furthermore, a step
160 is provided in place of the ankle bearing 39. Other parts of the
configuration are similar to those of the attachment configuration
described above. Explanation follows of the portions of the attachment
configuration of the drive-assistance device 102 to the walking unit 12
that differ from the above described configuration.

[0120]Each of the brackets 140A, 140B is fixed to a bottom end portion of
the upright frames 20 and projects out in a diagonal direction forwards
and upwards from the two end portions of the lumber frame 16,
respectively. Attachment holes 142H are configured in these projecting
portions 142.

[0121]The plates 150A, 150B are long flat plate shapes, disposed along the
above-knee frames 26 such that the faces of the plates substantially face
the left and right directions. The brackets 140A, 140B are attached at
one end of the plates 150A, 150B (at the proximal end side) through an
attachment plate 152, such that each of the brackets 140A, 140B is
capable of swinging in the walking front-rear direction (the center of
rotation in such cases is shown in the drawings as M). A portion at the
distal end of each of the plates 150A, 150B is disposed further forward
in the walking direction than the bottom end portion of the above-knee
frame 26. Plural attachment holes 153, 154 are formed in the bottom end
edge along the length direction of the plates 150A, 150B. The attachment
holes 153 are configured in the proximal end side of the plates 150A,
150B, and the attachment holes 154 are configured in the distal end side
of the plates 150A, 150B.

[0122]Fixing portions 156 are formed at intermediate portions at the
inside of the plates 150A, 150B. Intermediate portions of the above-knee
frames 26 are fixed to the fixing portions 156. End portions at the
lumber frame 16 side of the above-knee frame 26 are rotatably attached to
the bracket 140.

[0123]One end of the first actuators 104 is attached to the attachment
holes 142H of the brackets 140A, 140B via the rings R. The other end of
the first actuators 104 is attached to the attachment holes 154 at the
distal end side of the plates 150A, 150B via the rings R.

[0124]One end of the second actuator 106 is attached to the attachment
holes 153 of the proximal end side of the plates 150A, 150B via the rings
R. The other end of the second actuators 106 is attached to the bracket
37 via the rings R.

[0125]One end of the third actuators 108 is attached to the attachment
holes 154 at the distal end side of the plates 150A, 150B via the rings
R. The other end of the third actuators 108 is attached to the bracket 35
via the rings R.

[0126]One end of the fourth actuators 110 is attached to the bracket 17
via the rings R. The other end of the fourth actuators 110 is attached to
the bracket 37 via the rings R.

[0127]Regarding the functionality of the first actuators 104, the second
actuators 106, the third actuators 108, and the fourth actuators 110, it
is similar to that in the drive-assistance device 102.

[0128]The step 160 is of substantially an L-shape, and is attached to a
lower end portion of the below-knee frame 34 via a hinge 162. One side of
the step 160 is disposed so as to be parallel to the floor surface, and a
shoe 164 is attached thereto.

[0129]Explanation follows of the operation of the present exemplary
embodiment.

[0130]In the walking auxiliary equipment 10 of the above described
configuration, the walking unit 12 is put onto a user who is in a seated
posture on a chair (not shown in the figures). Specifically, the waist
belt 18 is wrapped around below the buttocks such that the lumber frame
16 is put onto the lumber region, the chest belt 23 is wrapped around the
chest region such that the left and right upright frames 20 are fixed to
the chest region, the leg belts 40 are wrapped around and put onto a
portion below the knee from the outside of the below-knee bearing 38, and
the leg belts 40 are wrapped around and put onto the ankle portions from
the outside of the ankle bearing 39.

[0131]The user who has put the walking unit 12 on operates the raising and
lowering switch 84 to the raising side. When this occurs, the control
device 82 controls the electropneumatic regulator 80, raising the
internal pressure of the cylinder 72A of the air cylinder 72. Due
thereto, in the walking auxiliary equipment 10, from the seated position,
the extension and retraction rod 72C of the air cylinder 72 extends, the
lifter 74 is gradually raised and the walking unit 12 attached to the
bottom flange 74C of the lifter 74 makes the user who is wearing the
walking unit 12 stand up from the seated state. The user is maintained in
an upright position (standing state) since the electropneumatic regulator
80 holds a constant internal pressure in the cylinder 72A.

[0132]Next, an assistant pulls the chair away backwards. In this state,
the user of the walking auxiliary equipment 10 performs walking exercise
with a correct gait posture, while being restricted in action by the worn
walking unit 12 of multi-jointed structure, and while being prevented
from tipping over by the bogie 14 to which the walking unit 12 is
attached.

[0133]When the user is performing walking exercise, ON and OFF control of
the switch SW is controlled by the control device 112 shown in FIG. 9,
supplying air and venting air to the first to the fourth actuators 104,
106, 108, 110.

[0134]As shown in the timing chart of FIG. 13 and in FIG. 14, by
sequentially supplying air and venting air to each of the left and right
actuators, each of the left and right actuators are extended and
retracted, imparting walking assistance force to a person undergoing
walking training using the walking auxiliary equipment 10.

[0135]First, as shown in FIG. 15, air is supplied to the first actuator
104A and the second actuator 106A on the right leg side, and the third
actuator 108B and the fourth actuator 110B on the left leg side, thereby
contracting these actuators (step 1). The other actuators are in a
non-air supplied state, namely in the extended venting operation state.

[0136]By contracting the first actuator 104A, force is generated to swing
the above-knee frame 26 of the right leg side forwards about the first
joint K1, namely force is generated equivalent to that of the quadriceps
muscle A of the right leg of a user, and the action to raise the thigh of
the right leg of a user (thigh raising action) is assisted.

[0137]Furthermore, by contracting the second actuator 106A, force is
generated to swing the below-knee frame 34 of the right leg side
rearwards about the second joint K1, namely force is generated equivalent
to that of the triceps surae muscle B of the right leg of a user, and the
action to flex the knee of the right leg of a user is assisted.

[0138]Namely, by contracting the first actuator 104A and the second
actuator 106A, action to raise the right leg is assisted, while flexing
the right knee of a user.

[0139]Furthermore, by contracting the third actuator 108B, force is
generated to swing the below-knee frame 34 on the left leg side rearward
about the second joint K2, namely force is generated equivalent to that
of the vastus muscle C of a user, and action to extend the left leg of a
user is assisted.

[0140]Furthermore, by contracting the fourth actuator 110B, force is
generated to swing the above-knee frame 26 of the left leg side rearward
about the first joint K1, namely force is generated equivalent to that of
the gluteus maximus D of the left leg side of a user, and action to pull
the left leg of a user rearward (kicking the ground surface) is assisted.
When this occurs, due to the fourth actuator 110B contracting, the
below-knee frame 34 rotates rearward about the second joint K2, and the
reason that the second joint K2 does not extend is due to action of the
opposing force due to contracting of the third actuator 108B.

[0141]Namely, due to the contracting of the third actuator 108B and the
fourth actuator 110B, the action of a user to kick the ground with the
left leg, with the knee in an extended state, is assisted, and due
thereto a user can perform good stepping out forward with the right leg.

[0142]Next, as shown in FIG. 16, venting of air is performed for the first
actuator 104A and the 106A of the right leg side and the fourth actuator
108B and the fourth actuator 110B of the left leg side, thereby extending
these. Furthermore, accompanying this, air is supplied to the first
actuator 104B and the second actuator 106B of the left leg side, and to
the third actuator 108A and the fourth actuator 110A of the right leg
side, contracting these (step 2).

[0143]Due to the extension of the first actuator 104A, generation of force
to swing the above-knee frame 26 on the right leg side forwards about the
first joint K1, namely generation of force equivalent to that of the
quadriceps muscle A of the right leg of a user, is terminated, lowering
the raised right leg thigh of the user.

[0144]Furthermore, by extension of the second actuator 106A, generation of
force to swing the below-knee frame 34 of the right leg side rearward
about the second joint K1, namely generation of force equivalent to that
of the triceps surae muscle B of the right leg of a user, is terminated,
releasing flexion of the right knee of a user.

[0145]When this occurs, due to contracting of the third actuator 108A
proceeding contracting of the fourth actuator 108A, force is generated to
swing the below-knee frame 34 of the right leg side forward about the
first joint K1, namely force is generated equivalent to that of the
vastus muscle C of the user, action to extend the right knee of the user
is assisted.

[0146]Namely, by contracting the third actuator 108A to accompany the
extension of the first actuator 104A and the second actuator 106A, a user
can perform a good action to plant the right leg on the ground while
extending the right knee, namely heal contact action.

[0147]Furthermore, by contracting the first actuator 104B and contracting
the second actuator 106B, force is generated equivalent to that generated
by the quadriceps muscle A and the triceps surae muscle B of the left leg
side of the user, assisting action to raise the left leg while flexing
the left knee.

[0148]Furthermore, by the fourth actuator 108A contracting together with
the third actuator 108A contracting as described above, force is
generated equivalent to that generated by the vastus muscle C and the
gluteus maximus D of the right leg side of the user, assisting action to
pull the right leg rearward with an extended state to the right knee of a
user.

[0149]The first to the fourth actuators 104, 106, 108, 110 repeatedly
perform the above operations when the user is performing walking
exercise.

[0150]As shown in FIG. 17, in normal walking movement, heel contact
A--foot-flat B--heel-off C--toe-off D is performed in sequence. Heel
contact is the start of the chain of normal walking movement, however
when heal contact cannot be made, then ground contact starts from the
toes. In such cases, body weight cannot be supported by the whole of the
sole of the foot, and excessive load acts on the toes, accompanied by
hypertonicity promoting pes equinus. Furthermore, if the ground contact
surface area is narrow (the support air surface is narrow) then
maintaining overall balance of the body when standing becomes difficult,
and substitutive action tension is induced, such as in the trunk, or the
like. Therefore, it is important to perform walking movement in a chain
starting from heel contact also from the perspective of securing support
base surface area.

[0151]In the present exemplary embodiment, the third actuator 108 is
provided to generate force assisting the action to straighten the knee of
the user, required to enable a user to perform walking movement in a
chain of actions starting from heel contact, and the third actuator 108
is actuated when the user is lowering a raised leg. Thereby, various
problems resulting from toe-first ground contact can be solved.

[0152]In the present exemplary embodiment, since a suspension function is
provided to the bogie 14, the load acting on the triceps surae muscles
can be alleviated when the joint of the leg adopts a dorsiflexed position
in the heel contact state. Due thereto, repetitive walking movement is
enabled, without excessive load on the triceps surae muscles, and a
gradual extension of the range of motion of the leg joints can be
expected. Note that plasticity of the triceps surae muscle is promoted by
repetition during walking movement of the plantarflexed position and the
dorsiflexed position, and progress in that direction is also promoted.

[0153]Furthermore, in the present exemplary embodiment, an assistance
force is also generated by the fourth actuator 110 when the third
actuator 108 is in an assistance force generated state. Due to this
assistance force, the above-knee frame 26 is swung rearwards about the
first joint K, actuating pulling of the thigh towards the rear side
without flexing the knee of a user, namely assisting action to kick the
ground with an upright leg. Consequently, the walking stability of a user
can be raised even further.

[0154]In the present exemplary embodiment, by making the extension and
retraction length of the second actuator 106 longer than the extension
and retraction of the fourth actuator 110, the range of motion in the
knee flexing action of a user is extended.

[0155]Furthermore, in the present exemplary embodiment, by using, for the
first to the fourth actuators 104, 106, 108, 110, pneumatic actuators
that generate force in the contracting direction while contracting due to
air supplied therein, functionality to generate the above described
assistance force is obtainable with a simple structure.

[0156]Next, explanation follows regarding a walking auxiliary equipment
100 as a walking auxiliary equipment according to a second exemplary
embodiment of the present invention. Note that whereas actuation of the
first actuators 104 is automatic in the above described walking auxiliary
equipment 10 according to the first exemplary embodiment, in the walking
auxiliary equipment 100 according to the present exemplary embodiment the
first to the fourth actuators 104, 106, 108, 110 are actuated by manual
operation using a manual switch 120 shown in FIG. 18.

[0157]As shown in FIG. 18, the manual switch 120 is equipped with: a
stand-up ON switch 122A generating assistance force when a user is
standing up, and a stand-up OFF switch 122B that switches off generation
of this assistance force; a right leg ON switch 124A that generates
assistance force when a user is striding out with the right leg, and a
right leg OFF switch 124B that switches off generation of this assistance
force; and a left leg ON switch 126A that generates assistance force when
a user is striding out with the left leg, and a left leg OFF switch 126B
that switches off generation of this assistance force.

[0158]The stand-up ON switch 122A and the stand-up OFF switch 122B are
connected to the left and right third actuator 108A and 108B, and to the
left and right fourth actuator 110A and 110B. During periods when the
stand-up ON switch 122A continues to be pressed, air continues to be
supplied to the actuators to which it is connected, however when pressing
is released, the supply of air to the actuators is terminated. The
actuators to which supply of air is terminated remain in the state they
were in at the time when supply was terminated.

[0159]During the period when the stand-up OFF switch 122B continues to be
pressed, air continues to be vented from the actuators to which it is
connected, however when pressing is released, venting of air from these
actuators is terminated. The actuators to which venting of air is
terminated remain in the state they were in at the time when venting was
terminated.

[0160]The first actuator 104A and the second actuator 106A of the right
leg side, and the third actuator 108B and the fourth actuator 110B of the
left leg side, are connected to the right leg ON switch 124A and the
right leg OFF switch 124B.

[0161]In addition, the first actuator 104B and the second actuator 106B of
the left leg side, and the third actuator 108A and the fourth actuator
110A of the right leg side are connected to the left leg ON switch 126A
and the left leg OFF switch 126B.

[0162]Note that while both the stand-up ON switch 122A and the stand-up
OFF switch 122B are provided in the present exemplary embodiment, this is
not always necessary. For example, as shown in FIG. 19 and FIG. 20,
configuration may be made provided only with switches 124, 126 for
raising and lowering the right leg and the left leg. In such cases, as
shown in FIG. 19, configuration may be made in which the right leg or the
left leg is raised by pressing, and the right leg or the left leg is
lowered by releasing pressing, or, as shown in FIG. 20, configuration may
be made in which a switch is provided for raising the right leg or the
left leg and a switch is provided for lowering the right leg or the left
leg, such that the legs can be raised and lowered by pressing each of the
respective switches.

[0163]Explanation follows of operation of the present exemplary
embodiment.

[0164]When a user is standing up (standing position), the stand-up ON
switch 122 is pressed, contracting the third actuators 108A, 108B on the
left and right sides, and fourth actuators 110A, 110B on the left and
right sides. Due thereto, the below-knee frames 34 swing forward about
the second joints K2, and the second joints K2 are extended, and in
addition the left and right above-knee frames 26 swing rearward about the
first joints K1, extending the first joints K1. Namely, force to assist
standing-up action of a user is generated.

[0165]Then, at the point in time when the standing-up movement of a user
is finished, pressing of the stand-up ON switch 122A is released, and the
left and right third actuators 108A, 108B and the left and right fourth
actuators 110A, 110B are maintained with the specific length of this
contracted state. Maintaining the standing posture of a user is thereby
assisted.

[0166]When the user performs walking movement, the right leg ON switch
124A is pressed so as to coincide with striding out forward with the
right leg, contracting the first actuator 104A and the second actuator
106A of the right leg side, and contracting the third actuator 108B and
the fourth actuator 110B of the left leg side. Due thereto, the
above-knee frame 26 of the right leg side swings forward about the first
joint K1, flexing the first joint K1, and also the below-knee frame 34 on
the right leg side swings rearward about the second joint K2, flexing the
second joint K2. However, the below-knee frame 34 on the left leg side
swings forward about the second joint K2, extending the second joint K2,
and also the above-knee frame 26 of the left leg side swings rearward
about the first joint K1, extending the first joint K1.

[0167]Namely, the right leg is raised while the right knee of a user is
flexed (right leg thigh raising), and force is generated assisting
movement to pull the left leg rearward (kicking the ground surface with
the left leg) in the state in which the left knee is extended.

[0168]Then, at the point in time after thigh raising of the right leg of a
user is finished, when the right leg OFF switch 124B is pressed (in
coordination therewith, pressing of the right leg ON switch 124A is
released), the right leg of a user that has finished being raised is
lowered.

[0169]When this occurs, the left leg ON switch 126A is pressed, the third
actuator 108A of the right leg side is contracted, and action to extend
the right knee of a user is assisted by the below-knee frame 34 on the
right leg side swinging forward about the second joint K2, and heel
contact of the right leg can be achieved.

[0170]Furthermore, by pressing the left leg ON switch 126A, the first
actuator 104B and the second actuator 106B on the left leg side are
contracted, the above-knee frame 26 on the left leg side swings forward
about the first joint K1 together with the below-knee frame 34 on the
left leg side swinging rearward about the second joint K2. Due thereto,
the first joint K1 on the left leg side is flexed, and the second joint
K2 on the left leg side is flexed.

[0171]Furthermore, the third actuator 108A and the fourth actuator 110A on
the right leg side are contracted, and, with the second joint K2 in an
extended state, the above-knee frame 26 swings rearward about the first
joint K1 and the first joint K1 is extended.

[0172]Namely, the right leg of a user is raised (right leg thigh raising)
with the right knee flexed, and force is generated to assist action to
pull the left leg rearward (left leg ground kicking) with the left knee
in an extended state.

[0173]Then, at a point in time after the thigh raising of the left leg of
a user is finished, when the left leg OFF switch 126B is pressed (and in
coordination therewith, pressing of the left leg ON switch 126A is
released), the left leg of a user that has finished being raised is
lowered.

[0174]When this occurs, in a similar manner to when lowering the right
leg, the right leg ON switch 124A is pressed such that the left leg also
makes heel contact.

[0175]By repeating the above operations, performing of good walking
exercise, appropriate to the state of the user, is enabled for the user
of the walking auxiliary equipment 100.

[0176]Here, sometimes involuntary muscle activity and excessive tone
sometimes occurs together with assisting walking movement of a user with
the walking auxiliary equipment 100. In the present exemplary embodiment,
however, by operating the manual switch 120, the timing with which air is
supplied to the first to the fourth actuators 104, 106, 108, 110, the
flow rate thereof, and the like, are capable of being changed to match
the condition of a user, and the shrinking (contracting) and relaxation
(extension) of the first to the fourth actuators 104, 106, 108, 110 is
capable of gradually being changed. Due thereto, a user is enabled to
perform safe walking movement.

[0177]Furthermore, by manual (hand) operation of the walking auxiliary
equipment 100, the capability arises to determine the level of muscle
tone of a user and the presence or absence of involuntary movements, and
a safe range of range of motion for the user can be verified.
Consequently, the verified data is capable of serving a useful function
when setting the control parameters in the automatic walking auxiliary
equipment 10 explained in the first exemplary embodiment.

[0178]Furthermore, when pressing of the stand-up OFF switch 122B, the
right leg OFF switch 124B, and the left leg OFF switch 126B continues,
the first to the fourth actuators 104, 106, 108, 110 are relaxed, and a
non-active state is adopted. Autonomous movement of a user can therefore
be readily verified.

[0179]Furthermore, by gradually supplying air to the first to the fourth
actuators 104, 106, 108, 110, it is possible to adjust the level of
support present while verifying the autonomous movements of a user.

[0180]Furthermore, by pressing the stand-up ON switch 122A, the first
joint K1 and the second joint K2 can be extended at the same time, not
only resulting in being able assist maintenance of a standing posture of
a user, but the weight of a user that acts on the flexed knees of a user
can be suppressed by the below-knee bearing 38, resulting in being able
to also obtain relieve of pain in the knee of a user.

[0181]Detailed explanation of particular exemplary embodiments of the
present invention are given above, however the present invention is not
limited by these exemplary embodiments, and it will be obvious to a
person of ordinary skill in the art that various other exemplary
embodiments are possible within the scope of the present invention. For
example, pneumatic actuators are employed as the first to the fourth
actuators in the present exemplary embodiment, however wire wound onto
pulleys and wound out from pulleys, under actuation from a motor, may be
employed in the first to the fourth actuators. It is also not essential
for all of the first to the fourth actuators to be provided.

[0182]Furthermore, in the present exemplary embodiment, the walking
auxiliary equipments 10, 100 included the bogie 14, however a bogie is
not an essential element of the configuration of the walking auxiliary
equipment.